Two wheels caster type odometer for omni-directional vehicles
Two wheels caster type odometer for omni-directional vehicles
复制标题
全向车辆用两轮脚轮式里程表
DOI：
10.1109/robot.2003.1241643
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
A. Mohri
中科院分区：
文献类型：
--
作者：
N. Ushimi;Motoji Yamamoto;A. Mohri
提出了一种新型的两轮脚轮式里程计，用于全方位车辆的当前位置和方向估计。建议的里程表是由两个被动轮和一个被动旋转轴。两个车轮独立旋转，旋转轴随着全方位车辆的移动而改变里程表的方向。使用齿轮系的三个旋转编码器测量两个车轮和旋转轴的角速度。提出了一种防止编码器与轮系纠缠的机构，利用三个编码器的测量值，通过里程表的运动学计算出全向车辆的当前速度矢量。利用该速度矢量，通过航位推算法估计全向车辆的当前位置和方向。最后给出了所研制的里程计的定位实验结果。
This paper proposes a new type of two wheels caster type odometer to estimate the current position and orientation of omni-directional vehicles. The proposed odometer is composed of two passive wheels and one passive rotational axis. The two wheels rotate independently, and the rotational axis changes the odometer's orientation as the omni-directional vehicle moves. Three rotary encoders using a gear train measure angular velocities of the two wheels and rotational axis. A mechanism of the gear train is proposed to prevent the encoder from being entangled with it. Using measured values of the three encoders, the current velocity vector of an omni-directional vehicle is calculated by kinematics of the odometer. Using the velocity vector, the current position and orientation of the omni-directional vehicle are estimated by dead reckoning. Results of localization experiments by the developed odometer are shown.